nav2_add_gtest(test_behavior_tree_node
  test_behavior_tree_node.cpp
  server_handler.cpp
)
target_link_libraries(test_behavior_tree_node
  ament_index_cpp::ament_index_cpp
  behaviortree_cpp::behaviortree_cpp
  ${geometry_msgs_TARGETS}
  nav2_behavior_tree::nav2_behavior_tree
  ${nav2_msgs_TARGETS}
  nav2_util::nav2_util_core
  nav2_ros_common::nav2_ros_common
  rclcpp::rclcpp
  tf2_ros::tf2_ros
  nav2_ros_common::nav2_ros_common
)
target_include_directories(test_behavior_tree_node
  PUBLIC
    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)
